Viewer

MuJoCoViewer

class MuJoCoViewer

Helper class to render a MuJoCo model

Callback methods

Methods are called from inside the window.

void cb_keyboard(GLFWwindow *window, int key, int scancode, int act, int mods)
void cb_mouse_button(GLFWwindow *window, int button, int act, int mods)
void cb_mouse_move(GLFWwindow *window, double xpos, double ypos)
void cb_scroll(GLFWwindow *window, double xoffset, double yoffset)

Public Functions

MuJoCoViewer(const mjModel *m = nullptr)

Constructor

Parameters

  • m: Model to be linked to

MuJoCoViewer(const MuJoCoModel &model)

Constructor Model to be linked to

Parameters

  • model:

~MuJoCoViewer()
bool window_should_close() const

Return true when window was closed

void update(mjData *d = nullptr)

Render new scene and poll for glwfw events

Leave d empty to not update the scene.

Parameters

  • d: New data

void play(mjData *d)

Run simulation until window is closed

Function steps through simulation and displays it, running in real-time.

void update_scene(mjData *d)

Update scene with mjData

void initialize(const mjModel *m)

Initialize viewer with model

Typically only called from inside the constructor.

void draw_arrow(const double vector[3], const double base[3])

Create arrow from the given vector, starting from the base

Arrow will only show up if added after scene update!

Parameters

  • vector: Vector itself

  • base: Location of the base

void add_figure(MuJoCoFigure *figure)

Add new figure

When the figure does not have an explicit position, it will be place above the previous figure.

Parameters

  • figure: Pointer to existing figure

Public Members

bool button_left_

Mouse buttons

bool button_middle_
bool button_right_
double mouse_x_

Last known mouse position

double mouse_y_
const mjModel *m_

Pointer to MJ model object

mjvCamera cam_

MJ camera object

mjvOption opt_

MJ visualisations options

mjvScene scn_

MJ scene

mjrContext con_

MJ GPU context

Public Static Functions

MuJoCoViewer *get_viewer_ptr(GLFWwindow *window)

Get original object reference which was tucked inside the window

void sleep_seconds(double seconds)

Let current thread wait for an amount of seconds

Parameters

  • seconds: Time in seconds

MuJoCoFigure

class MuJoCoFigure

Figure (graph) to be shown inside MuJoCoViewer

One figure corresponds to one graph. One figure can consist of multiple lines (curves).

Figure object needs to be linked once to MuJoCoViewer using MuJoCoViewer.add_figure().

Set legends

MuJoCoFigure &set_legends(const std::vector<std::string> &legends)

Parameters

  • legends: Set list of legends

MuJoCoFigure &set_legend(const std::string &legend)

Parameters

  • legend: Set a single legend

Set new values in figure

Parameters

  • x: Current time (x-axis value)

void add_value(double x, double val, int line_id = 0)

Set a single value.

Parameters

  • x:

  • val: New value

  • line_id: Index of line (< n_lines)

void add_values(double x, const double *values, int n_values = -1)

Set values for multiple lines.

Parameters

  • x:

  • values: Array of new values

  • n_values: Size of array

Public Functions

MuJoCoFigure()

Default consstructor

MuJoCoFigure(const std::string &name, int n_lines = 1)

Constructor

Parameters

  • name: Title of the figure

  • n_lines: Number of lines in figure

~MuJoCoFigure() = default
mjrRect get_viewport() const

Return viewport

MuJoCoFigure &set_x_label(const std::string &label)

Set label for x-axis

MuJoCoFigure &set_size(int width, int height)

Set figure width and height

MuJoCoFigure &set_pos(int x, int y)

Set figure screen position

mjvFigure *get_figure()

Return mjFigure pointer

void get_pos(int &x_res, int &y_res)

Get screen position

void get_size(int &width_res, int &height_res)

Get screen size

void clear()

Clear figure entirely